CN115465450A

CN115465450A - Gun-shot cluster type folding rotor micro unmanned aerial vehicle

Info

Publication number: CN115465450A
Application number: CN202211218602.5A
Authority: CN
Inventors: 程诚; 李越
Original assignee: Nanjing University of Science and Technology
Current assignee: Wuxi Dianshuo Electronic Technology Co ltd
Priority date: 2022-10-06
Filing date: 2022-10-06
Publication date: 2022-12-13

Abstract

The invention discloses a gun-launched cluster type folding rotor micro unmanned aerial vehicle, which comprises a projectile body front section, a projectile body rear section and a projectile shell, wherein the projectile body front section, the projectile body rear section and the projectile shell are in the shape of a projectile shell structure; the rear end of the front section of the bullet body is also fixedly connected with the front end face of the support base, and a bullet quick-launching device is arranged in the inner cavity of the front section of the bullet body, which is provided with a bullet-launching port, of the shell. The unmanned aerial vehicle can realize the functions of quick launching, quick remote delivery, quick bullet-machine conversion, quick batting operation, long endurance and the like, can obviously improve the efficiency of reconnaissance operation, and has important application value in the fields of military use, police use, civil use and the like.

Description

Gun-shot cluster type folding rotor micro unmanned aerial vehicle

Technical Field

The invention relates to the technical field of unmanned aerial vehicle equipment, in particular to a gun-launched cluster type folding rotor wing micro unmanned aerial vehicle.

Background

The unmanned aerial vehicle technology has entered a high-speed development stage in the military field, wherein the application of unmanned aerial vehicles in battlefields is further promoted by the proposition of the unmanned aerial vehicle clustering concept. Unmanned aerial vehicle cluster cooperative combat is an important direction for future unmanned aerial vehicle application, and can become important combat force of a future battlefield.

In a battlefield with the conflict of minutes and seconds, the launching speed of weaponry has great influence on the situation of battle, the existing cluster type unmanned aerial vehicle has slow launching speed, and the unmanned aerial vehicle cluster can not be quickly established to execute the battle mission; in addition, the existing unmanned aerial vehicle is seriously influenced by the self weight of the body and the space volume, the endurance time, the combat range and the like, and is not favorable for storage and transportation; in the aspect of reconnaissance and attack of the unmanned aerial vehicle, the existing unmanned aerial vehicle has low air navigation speed, is easily interfered by air defense equipment of other parties, and has unsatisfactory effect on executing reconnaissance and attack combat missions.

In fields such as police, civilian, police unmanned aerial vehicle's application has not only reduced police's work risk, has effectively alleviated current receiving and dealing with police mode and the not enough pressure of police force deployment, has greatly improved work efficiency moreover, has extensive actual combat demand and good development prospect. The research and development of the unmanned aerial vehicle and the rapid deployment thereof are not enough, and the informatization application depth of the unmanned aerial vehicle for police is limited. The current different unmanned aerial vehicle platforms for police are generally not ideal enough in the aspects of endurance and the like. Meanwhile, in civil fields such as emergency rescue of sudden disasters and wild animal protection, some regional conditions which are difficult to reach on land need to be known urgently in a short time, so that great demands are made on rapid launching and information return of the unmanned aerial vehicle.

Disclosure of Invention

The invention aims to solve the problems in the prior art and provides a gun-launched cluster-type folding rotor wing micro unmanned aerial vehicle which is designed in a shell structure appearance, can be rapidly launched, reconnaissance, struck and rapidly converted into a bullet machine, is convenient to transport and carry and can realize long endurance.

The invention aims to solve the problems by the following technical scheme:

the utility model provides a miniature unmanned aerial vehicle of folding rotor of big gun cluster formula of penetrating, including the shell appearance casing that bears the unmanned aerial vehicle flight, realize the rotor assembly body of bullet machine conversion, regulation and control unmanned aerial vehicle flight and signal transmission's control system and supply with the high rate battery of unmanned aerial vehicle flight and each module work.

A gun-launched cluster-type folding rotor micro unmanned aerial vehicle comprises a projectile body front section, a projectile body rear section and a projectile shell, wherein the projectile body front section, the projectile body rear section and the projectile shell are of a projectile shell structure, the projectile shell is sleeved outside the projectile body rear section and can automatically separate from the projectile body rear section after being launched, a rotor assembly body is arranged in an inner cavity of the projectile body rear section, the front end of the projectile body rear section is clamped and fixed on the periphery side of a support base of the rotor assembly body, and when a rotor of the rotor assembly body is unfolded, the projectile body rear section arranged in a clack mode can be propped open and falls off; the rear end of the front section of the bullet body is also fixedly connected with the front end face of the support base, and a bullet quick-launching device is arranged in the inner cavity of the front section of the bullet body, which is provided with a bullet-launching port, of the shell.

Furthermore, the rotor wing assembly body comprises a rotor wing bracket and a rotor wing consisting of a plurality of pins, plate springs, a horn, a motor and blades which are configured in a set, the blades are arranged on a driving shaft of the motor, the motor is arranged at the front end of the horn, the rear end of the horn is connected with the rotor wing bracket through the pins, the front end of the plate spring which can enable the rotor wing of the rotor wing assembly body to be unfolded in a free state is fixedly arranged on the horn, and the rear end of the plate spring is also connected with the rotor wing bracket through the pins; the rotor assembly body still be equipped with the electromagnetism locking mechanism that can restrict the leaf spring position for the rotor of rotor assembly body can be folded and be arranged in the inner chamber of body back end.

Furthermore, the rotor wing bracket comprises a cylindrical bracket base, a plurality of double-plate brackets in a circumferential array form are arranged on the rear end surface of the bracket base, the horn pin holes in the front parts of the double-plate brackets are connected with the rear ends of the horns through pins, and the plate spring pin holes in the rear parts of the double-plate brackets are connected with the rear ends of the plate springs through pins; the plate spring pin hole is located obliquely above the horn pin hole, and the locking rod below the plate spring pin hole is used for positioning the rear end of the horn when the rotor wing is unfolded.

Further, a motor groove is formed in the front end of the machine arm, a plate spring fixing groove is formed in the rear side of the motor groove, and the front end of the plate spring is connected with the plate spring fixing groove in the machine arm through a set screw; the motor is installed in the motor groove of horn, rotates on the drive shaft of motor and is connected with the connecting block, has arranged two paddles that are central symmetrical arrangement at the both ends of connecting block.

Further, electromagnetism locking mechanism include locking groove and locking boss, the locking groove is located the rotor support of leaf spring rear end and the locking boss is located the horn, the locking boss when the rotor is in fold condition can imbed the locking groove and lock, locking groove and locking boss lock each other and make the leaf spring be in compression state.

Furthermore, limit clamps distributed in a circumferential manner are arranged in the locking groove, and the tail end of each limit clamp is connected with the electromagnet in a matched manner through a corresponding spiral spring; the limiting card extends out of the annular groove embedded in the locking boss under the elastic force of the spiral spring to realize the mutual locking of the locking groove and the locking boss, and the plate spring is in a compressed state; the limiting clamp retracts along the radial direction of the limiting clamp to be separated from the annular groove in the locking boss through the attraction force of the electromagnet, the electromagnetic locking mechanism unlocks to enable the rotor wing to be unfolded along the circumference, and the plate spring is in an extending state.

Furthermore, the striking reconnaissance part comprises a camera reconnaissance system provided with an omnibearing high-speed camera and a quick striking system provided with an onboard rotating cartridge clip, and implements quick reconnaissance and striking tasks.

Further, the bullet rapid launching device comprises an airborne rotary cartridge clip and a rapid launching mechanism arranged in an inner cavity of the airborne rotary cartridge clip, wherein the airborne rotary cartridge clip stores airborne bullets in a circumferential array form; when a striking task needs to be executed, the quick-firing mechanism rapidly fires the airborne bullet in the airborne rotary cartridge clip through the bullet firing port to attack a target.

Furthermore, an omnibearing high-speed camera is arranged at the head of the front section of the projectile body and is arranged inside the transparent fairing; the image shot by the omnibearing high-speed camera is transmitted to a camera control module of a flight control system of the unmanned aerial vehicle in real time, and the omnibearing high-speed camera can detect the external situation through the transparent fairing.

Furthermore, a module board is arranged in an inner cavity of the front section of the projectile body, and an image transmission module for image transmission, a data transmission module for data transmission, a control module serving as a control center of a flight control system, a sensor module for collecting monitoring data, an OSD module for integrating the monitoring data and a camera control module for controlling an omnidirectional high-speed camera are mounted on the module board, wherein the image transmission module, the data transmission module, the OSD module and the camera control module are used for communication transmission, and the OSD module integrates data collected by a gyroscope magnetoresistive sensor, a GPS (global positioning system) locator, an ultrasonic detector and the like in the sensor module and returns the monitored data to a ground control base station terminal through an airborne communication module to be superposed on an image transmitted by the image; a high-rate battery for supplying power is arranged between the module board and the bullet rapid launching device and is used for supplying power for the operation of each module, the motor, the electromagnetic locking mechanism and the like.

Further, the control system of the drone comprises a ground portion and an airborne portion; the airborne part comprises a flight control system, an execution mechanism, an OSD module, an airborne communication module and a high-rate battery for supplying power to the flight control system, the execution mechanism and the OSD module; the flight control system comprises a camera control module, a control module and a sensor module, wherein the sensor module comprises a gyroscope magnetoresistive sensor for monitoring the flight attitude of the unmanned aerial vehicle, a GPS positioner for monitoring the flight position of the unmanned aerial vehicle, an ultrasonic detector for monitoring the flight altitude of the unmanned aerial vehicle, and monitoring data acquired by the sensor module is transmitted to the control module and an OSD module in real time; the control module collects image information in the flight process through the omnibearing high-speed camera, controls the rotor wing of the rotor wing assembly body to be unfolded through the electromagnetic locking mechanism, and controls the autonomous flight of the unmanned aerial vehicle through the starting of the motor; the OSD module is used for receiving the monitoring data collected by the integrated sensor module and transmitting the monitoring data to the airborne communication module; the airborne communication module comprises an image transmission module for image transmission and a data transmission module for data transmission, and is respectively connected with the control module, the OSD module and the ground communication module through lines; the ground part comprises a ground control platform and a ground communication module, the ground control platform is communicated with the airborne part through the ground communication module, and the ground control platform is a fixed controller or a mobile controller.

Compared with the prior art, the invention has the following advantages:

1. the unmanned aerial vehicle adopts the appearance design of the shell structure, the streamline structure can greatly reduce resistance in the flight process, the battery loss of the unmanned aerial vehicle in the air flight process can be reduced based on the shooting mode, and the rapid launching and the long-distance delivery of the unmanned aerial vehicle are realized.

2. The rotor wing assembly body provided by the unmanned aerial vehicle is a reusable mechanism for realizing the switching of the missile and the aircraft of the unmanned aerial vehicle, and the complete set of rotor wings can be folded and placed in the inner cavity at the rear end of the missile body, so that the occupied space is small, and the unmanned aerial vehicle is easy to transport and carry; reliable folding locking and the leaf spring that have realized the rotor through electromagnetism locking mechanism have realized the quick expansion of rotor, play quick action of quick-witted conversion and have guaranteed that unmanned aerial vehicle converts the smooth executive task of navigation state into with the used repeatedly function.

3. The unmanned aerial vehicle control and signal transmission adopt the specific design of module board integration, can realize the remote control of the unmanned aerial vehicle, acquire images and parameter information on site in real time and transmit the images and the parameter information to the control center, and provide a research and judgment basis for implementing tasks.

4. The unmanned aerial vehicle can realize rapid reconnaissance and striking of the target by adopting the omnibearing high-speed camera and the airborne rotary cartridge clip, and can ensure the instantaneity of the unmanned aerial vehicle in executing tasks.

Drawings

The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular description of preferred embodiments of the invention, as illustrated in the accompanying drawings. Like reference numerals refer to like parts throughout the drawings, and the drawings are not intended to be drawn to scale in actual dimensions, emphasis instead being placed upon illustrating the principles of the invention.

Fig. 1 is a schematic view of an appearance structure of a gun-launched cluster-type folding rotor micro unmanned aerial vehicle;

fig. 2 is an exploded view of the gun-launched cluster-type folding rotor micro unmanned aerial vehicle of the present invention;

fig. 3 is a schematic structural view of a rotor assembly of the unmanned aerial vehicle according to the present invention partially in a folded state;

figure 4 is a schematic illustration of a rotor assembly of the present invention in a deployed state;

FIG. 5 is a schematic view of an electromagnetic locking mechanism of the present invention;

fig. 6 is a control schematic diagram of the unmanned aerial vehicle of the present invention.

Wherein: 1-a transparent fairing; 2-omnibearing high-speed camera; 3-the front section of the projectile body; 31-bullet firing ports; 4-module board; 5-a graph transmission module; 6-a data transmission module; 7, a control module; 8-a sensor module; 9-OSD module; 10-camera control module; 11-high rate battery; 12-airborne rotating cartridge clips; 13-airborne bullets; 14-rotor support; 141-a support base; 142-horn pin holes; 143-leaf spring pin holes; 144-double plate holder; 145-locking lever; 146-a locking groove; 147-locking bosses; 148-limit card; 149-a coil spring; 150-an electromagnet; 15-pin; 16-a leaf spring; 17-a horn; 171-leaf spring fixing groove; 172-motor slot; 18-a motor; 19-a paddle; 20-the rear section of the elastomer; 21-cartridge case; 22-set screw; 23-connecting block.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that certain terms of orientation or positional relationship are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referred devices or components must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.

The embodiment provides a gun-launched cluster-type folding rotor micro unmanned aerial vehicle, fig. 1 is an overall three-dimensional structure outline diagram provided by an embodiment of the present invention, fig. 2 is an exploded explosion diagram of an overall three-dimensional structure provided by an embodiment of the present invention, as shown in fig. 1 and fig. 2:

the unmanned aerial vehicle provided by the invention is in a shell structure shape and comprises a shell front section 3, a shell rear section 20 and a shell 21, wherein the shell 21 is sleeved outside the shell rear section 20 and can automatically separate from the shell rear section 20 after being launched, a rotor assembly body is arranged in an inner cavity of the shell rear section 20, the front end of the shell rear section 20 is clamped and fixed on the periphery of a support base 141 of the rotor assembly body, and the rotor of the rotor assembly body can prop the shell rear section 20 which is arranged in a clack manner to fall off when being unfolded; the rear end of the projectile body front section 3 is also fixedly connected with the front end face of the support base 141, a rapid projectile launching device is arranged in an inner cavity of the projectile body front section 3, the shell is provided with a projectile launching port 31, the rapid projectile launching device comprises an airborne rotary cartridge clip 12 and a rapid launching mechanism arranged in the inner cavity of the airborne rotary cartridge clip 12, the airborne rotary cartridge clip 12 stores airborne cartridges 13 in a circumferential array mode, and when a striking task needs to be executed, the rapid launching mechanism rapidly launches the airborne cartridges 13 in the airborne rotary cartridge clip 12 through the projectile launching port 31 to attack targets; the head of the front section 3 of the bullet body is provided with an omnibearing high-speed camera 2, and the omnibearing high-speed camera 2 is arranged inside the transparent fairing 1; the image shot by the omnibearing high-speed camera 2 is transmitted to a camera control module 10 of a flight control system of the unmanned aerial vehicle in real time; a module plate 4 is arranged in the inner cavity of the front section 3 of the projectile body, and a drawing transmission module 5 for image transmission, a data transmission module 6 for data transmission, a control module 7 serving as a control center of a flight control system, a sensor module 8 for collecting monitoring data, an OSD module 9 for integrating the monitoring data and a camera control module 10 for controlling the omnibearing high-speed camera 2 are arranged on the module plate 4; and a high-rate battery 11 for supplying power is arranged at the module board 4 and the bullet rapid-firing means.

Among them, as shown in fig. 3, 4, and 5: the rotor assembly comprises a rotor bracket 14 and a plurality of rotors consisting of pins 15, leaf springs 16, a horn 17, a motor 18 and blades 19 which are configured in a set, wherein the blades 19 are installed on a driving shaft of the motor 18, the motor 18 is installed at the front end of the horn 17, the rear end of the horn 17 is connected with the rotor bracket 14 through the pins 15, the front ends of the leaf springs 16 which can enable the rotors of the rotor assembly to unfold in a free state are fixedly installed on the horn 17, and the rear ends of the leaf springs 16 are also connected with the rotor bracket 14 through the pins 15; the rotor assembly body is further provided with an electromagnetic locking mechanism capable of limiting the position of the plate spring 16, so that the rotor of the rotor assembly body can be folded and positioned in the inner cavity of the rear section 20 of the projectile body. The rotor wing bracket 14 comprises a cylindrical bracket base 141, a plurality of double-plate brackets 144 in a circumferential array form are arranged on the rear end surface of the bracket base 141, a horn pin hole 142 in the front of the double-plate bracket 144 is connected with the rear end of a horn 17 through a pin 15, and a plate spring pin hole 143 in the rear of the double-plate bracket 144 is connected with the rear end of a plate spring 16 through a pin 15; the plate spring pin hole 143 is positioned obliquely above the horn pin hole 142, and the locking rod 145 below the plate spring pin hole 143 is used for positioning the rear end of the horn 17 when the rotor wing is unfolded; further, a motor groove 172 is formed at the front end of the horn 17, a leaf spring fixing groove 171 is formed at the rear side of the motor groove 172, and the front end of the leaf spring 16 is connected with the leaf spring fixing groove 171 on the horn 17 through a set screw 22; the motor 18 is installed in a motor groove 172 of the horn 17, a connecting block 23 is rotatably connected to a driving shaft of the motor 18, and two blades 19 which are arranged in central symmetry are arranged at two ends of the connecting block 23. The electromagnetic locking mechanism comprises a locking groove 146 and a locking boss 147, the locking groove 146 is positioned on the rotor bracket 14 at the rear end of the plate spring 16, the locking boss 147 is positioned on the horn 17, and the locking boss 147 can be embedded into the locking groove 146 and locked when the rotor is in a folded state; specifically, 2-6 limit clamps 148 are circumferentially arranged in the locking groove 146, and the end of each limit clamp 148 is connected with an electromagnet 150 through a corresponding coil spring 149; the limit clip 148 extends out of and is embedded into the annular groove on the locking boss 147 under the elastic force of the spiral spring 149, so that the locking groove 146 and the locking boss 147 are locked with each other, and the plate spring 16 is in a compressed state; by controlling the energization of the electromagnet 150 and the attraction force of the electromagnet 150, the limit clamp 148 retracts along the radial direction thereof to be separated from the annular groove on the locking boss 147, the electromagnetic locking mechanism is unlocked, so that the rotor wing is unfolded along the circumference, and the plate spring 16 is in an extended state.

As shown in fig. 6: the control system of the unmanned aerial vehicle comprises a ground part and an airborne part; the airborne part comprises a flight control system, an execution mechanism, an OSD module 9, an airborne communication module and a high-rate battery 11 for supplying power to the flight control system, the execution mechanism and the OSD module 9; the flight control system comprises a camera control module 10, a control module 7 and a sensor module 8, wherein the sensor module 8 comprises a gyroscope magnetoresistive sensor for monitoring the flight attitude of the unmanned aerial vehicle, a GPS locator for monitoring the flight position of the unmanned aerial vehicle, an ultrasonic detector for monitoring the flight altitude of the unmanned aerial vehicle, monitoring data collected by the sensor module 8 is transmitted to the control module 7 and an OSD module 9 in real time, the control module 7 is used for controlling an execution mechanism, the control module 7 is mutually communicated with a ground communication module through an airborne communication module, the camera control module 10 is used for receiving images shot by an omnibearing high-speed camera 2 in the execution mechanism and transmitting the images to the control module 7, and the control module 7 can control the shooting of the omnibearing high-speed camera 2 through the camera control module 10; the execution mechanism comprises an omnibearing high-speed camera 2, an electromagnetic locking mechanism and a motor 18, the control module 7 acquires image information in the flight process through the omnibearing high-speed camera 2, controls the rotor of a rotor wing assembly body to unfold through the electromagnetic locking mechanism, and controls the autonomous flight of the unmanned aerial vehicle through the starting of the motor 18; the OSD module 9 is used for receiving the monitoring data collected by the integrated sensor module 8 and transmitting the monitoring data to the airborne communication module; the airborne communication module comprises an image transmission module 5 for image transmission and a data transmission module 6 for data transmission, and is respectively connected with the control module 7, the OSD module 9 and the ground communication module through lines; the ground part comprises a ground control platform and a ground communication module, the ground control platform is communicated with the airborne part through the ground communication module, and the ground control platform is a fixed controller or a mobile controller, such as a PC (personal computer), a portable computer and the like. When the unmanned aerial vehicle is communicated with the ground part, parameters such as flight attitude, position and height of a flight control system of the airborne part are collected by the sensor module 8 and transmitted to the control module 7, so that the electromagnetic locking mechanism, the motor 18, the omnibearing high-speed camera 2 and other execution mechanisms are controlled, meanwhile, the parameters collected by the sensor module 8 are transmitted into the OSD module 9 to integrate data, and the data are returned to the ground part through the airborne communication module. The high-rate battery 11 supplies electric energy to the flight control system, the execution mechanism and the OSD module 9 to enable the flight control system, the execution mechanism and the OSD module to work normally.

Can know through the main structure of the miniature unmanned aerial vehicle of the above-mentioned gun-launched cluster formula folding rotor: above-mentioned miniature unmanned aerial vehicle of rotor is penetrated to big gun cluster formula constitutes with the form of shot shell and shot projectile body, and all parts are stored inside the projectile body, small in size, space utilization is high for unmanned aerial vehicle is convenient for the tactics maneuver, and streamlined shot can greatly reduce unmanned aerial vehicle at the resistance of air flight, reduces energy loss, promotes unmanned aerial vehicle speed of marcing, through rotor assembly body folding with expand quick realization unmanned aerial vehicle bullet machine conversion process.

In specific use, according to actual need, the unmanned aerial vehicle who deposits with shell structure appearance puts into firing emission such as gun barrel in the firing, flies in the air to the shot form, when arriving near the target, compressed leaf spring 16 expandes rapidly, and control horn 17 is opened simultaneously, regulates and control motor 18 operation, and paddle 19 is rotatory provides power for unmanned aerial vehicle, converts into unmanned aerial vehicle navigation state, continues to fly and carries out relevant reconnaissance and hit the task.

The following detailed description is made of the specific structure and the specific technical effects of the gun-launched cluster-type folding rotor micro unmanned aerial vehicle provided by the embodiment of the invention:

as shown in fig. 3, the miniature gun-launched cluster-type folding rotor unmanned aerial vehicle provided by the invention is in a rotor folding state, the plate spring 16 is in a compressed state, each rotor is fixed through the electromagnetic locking mechanism, and the unmanned aerial vehicle is in such a state when stored and launched, so that the unmanned aerial vehicle is convenient to transport and carry, and the frequent process of dismounting and mounting the unmanned aerial vehicle is reduced; launch and continue to fly with the pellet form behind the muzzle, when near arriving the target, with projectile body back end 20 separation, convert into unmanned aerial vehicle navigation state fast, remote control triggers electromagnetic locking mechanism and opens, flat spring 16 extends rapidly, it is rotatory around the axis of lower pin hole 142 to drive horn 17 simultaneously, break away from projectile body back end 20 split, each rotor rotates to and is the vertical state with the projectile body axis with horn 17, and the position of further fixed horn 17 through the check lock lever 145 on the double plate support 144, motor 18 also operates thereupon, it provides power for unmanned aerial vehicle to drive paddle 19 rotation, carry out relevant task.

In a further preferred embodiment, a bullet fast-launching device is further installed in the front projectile body section 3 of the unmanned aerial vehicle, the bullet fast-launching device comprises an airborne rotary cartridge clip 12 and a fast-launching mechanism arranged in the inner cavity of the airborne rotary cartridge clip 12, and the airborne rotary cartridge clip 12 stores airborne bullets 13 in a circumferential array form; when a striking task needs to be executed, the quick-firing mechanism rapidly fires the airborne bullet 13 in the airborne rotary cartridge clip 12 through the bullet firing port 31 to attack a target, and the striking mechanism has a remarkable killing effect.

In further preferred embodiment, this transparent radome fairing of unmanned aerial vehicle 1 is inside to be provided with all-round high-speed camera 2, can shoot the condition in the field of vision scope at unmanned aerial vehicle marching in-process, and camera control module 10 can regulate and control all-round high-speed camera 2, and integrate sensor module by the OSD module: and data collected by the gyroscope, the GPS positioner, the ultrasonic detector and the like returns the monitored data to the ground control base station terminal to be superposed on the image transmitted by the image, and the data transmitted by the communication transmission component of the image transmission module 5 and the data transmission module 6 in real time are used for studying and judging the current situation and deploying.

It should be noted that, in the specific technical solution of the embodiment of the present invention, a high-rate battery 11 is further installed between the module plate 4 of the front section 3 of the projectile body and the airborne rotary cartridge clip 12, so as to provide for normal operation of each module and component in the projectile body and ensure power supply of each rotor driving device.

The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention should not be limited thereby, and any modification made on the basis of the technical solution according to the technical idea proposed by the present invention is within the protection scope of the present invention; the technology not related to the invention can be realized by the prior art.

Claims

1. The utility model provides a miniature unmanned aerial vehicle of rotor is folded to big gun cluster formula, its characterized in that: the unmanned aerial vehicle comprises a projectile body front section (3), a projectile body rear section (20) and a projectile shell (21), wherein the projectile body front section (3), the projectile body rear section (20) and the projectile shell (21) are in the shape of a projectile shell structure, the projectile shell (21) is sleeved outside the projectile body rear section (20) and can automatically separate from the projectile body rear section (20) after being launched, a rotor wing assembly body is arranged in an inner cavity of the projectile body rear section (20), the front end of the projectile body rear section (20) is clamped and fixed on the periphery side of a support base (141) of the rotor wing assembly body, and when a rotor wing of the rotor wing assembly body is unfolded, the projectile body rear section (20) arranged in a petal type can be unfolded and dropped; the rear end of the projectile body front section (3) is also fixedly connected with the front end face of the support base (141), and a bullet quick launching device is arranged in the inner cavity of the projectile body front section (3) provided with a bullet launching port (31) on the shell.

2. The gun-launched cluster-folded rotor micro drone according to claim 1, characterized in that: the rotor wing assembly comprises a rotor wing bracket (14), a plurality of pins (15) which are configured in a set manner, a plate spring (16), a horn (17), a motor (18) and a rotor wing (19), wherein the rotor wing is composed of the pins (15), the plate spring (16), the horn (17), the motor (18) and the blade (19), the blade (19) is installed on a driving shaft of the motor (18), the motor (18) is installed at the front end of the horn (17), the rear end of the horn (17) is connected with the rotor wing bracket (14) through the pins (15), the front end of the plate spring (16) which can enable the rotor wing of the rotor wing assembly to unfold is fixedly installed on the horn (17) in a free state, and the rear end of the plate spring (16) is also connected with the rotor wing bracket (14) through the pins (15); the rotor wing assembly body is further provided with an electromagnetic locking mechanism capable of limiting the position of the plate spring (16), so that the rotor wing of the rotor wing assembly body can be folded and positioned in an inner cavity of the rear section (20) of the elastic body.

3. The gun-launched cluster-folded rotor micro drone according to claim 2, characterized in that: the rotor wing bracket (14) comprises a cylindrical bracket base (141), a plurality of double-plate brackets (144) in a circumferential array form are arranged on the rear end surface of the bracket base (141), a horn pin hole (142) in the front of each double-plate bracket (144) is connected with the rear end of a horn (17) through a pin (15), and a plate spring pin hole (143) in the rear of each double-plate bracket (144) is connected with the rear end of a plate spring (16) through a pin (15); the plate spring pin hole (143) is located obliquely above the horn pin hole (142), and the locking rod (145) below the plate spring pin hole (143) is used for positioning the rear end of the horn (17) when the rotor wing is unfolded.

4. The miniature unmanned aerial vehicle with gun-launched cluster-folded rotors according to claim 2, wherein: the front end of the horn (17) is provided with a motor groove (172), the rear side of the motor groove (172) is provided with a plate spring fixing groove (171), and the front end of the plate spring (16) is connected with the plate spring fixing groove (171) on the horn (17) through a set screw (22); the motor (18) is arranged in a motor groove (172) of the horn (17), a connecting block (23) is rotatably connected to a driving shaft of the motor (18), and two blades (19) which are arranged in central symmetry are arranged at two ends of the connecting block (23).

5. The miniature unmanned aerial vehicle with gun-launched cluster-folded rotors according to claim 2, wherein: the electromagnetic locking mechanism comprises a locking groove (146) and a locking boss (147), the locking groove (146) is located on a rotor wing bracket (14) at the rear end of the plate spring (16), the locking boss (147) is located on a horn (17), the locking boss (147) can be embedded into the locking groove (146) and locked when the rotor wing is in a folded state, and the locking groove (146) and the locking boss (147) are mutually locked to enable the plate spring (16) to be in a compressed state.

6. The gun-launched cluster-folded rotor micro drone according to claim 5, characterized in that: the locking groove (146) is internally provided with limit clamps (148) which are distributed in a circumferential manner, and the tail end of each limit clamp (148) is connected with the electromagnet (150) in a matching way through a corresponding spiral spring (149); the limiting clamp (148) extends out of and is embedded into the annular groove on the locking boss (147) under the elastic force action of the spiral spring (149) to realize the mutual locking of the locking groove (146) and the locking boss (147), and the plate spring (16) is in a compressed state; the limit clamp (148) retracts along the radial direction thereof to be separated from the annular groove on the locking boss (147) through the attraction force of the electromagnet (150), the electromagnetic locking mechanism is unlocked, so that the rotor wing is unfolded along the circumference, and the plate spring (16) is in an extended state.

7. The gun-launched cluster-folded rotor micro drone according to any one of claims 1 to 6, characterized in that: the bullet rapid launching device comprises an airborne rotary cartridge clip (12) and a rapid launching mechanism arranged in an inner cavity of the airborne rotary cartridge clip (12), wherein the airborne rotary cartridge clip (12) stores airborne bullets (13) in a circumferential array form; when a striking task needs to be performed, the quick-firing mechanism rapidly fires the airborne bullet (13) in the airborne rotating cartridge clip (12) through the bullet firing port (31) to attack a target.

8. The miniature unmanned aerial vehicle with gun-launched cluster-folded rotor as claimed in any one of claims 1 to 6, wherein: the head of the front section (3) of the projectile body is provided with an omnibearing high-speed camera (2), and the omnibearing high-speed camera (2) is arranged inside the transparent fairing (1); the image shot by the omnibearing high-speed camera (2) is transmitted to a camera control module (10) of a flight control system of the unmanned aerial vehicle in real time.

9. The gun-launched cluster-folded rotor micro drone according to any one of claims 1 to 6, characterized in that: a module board (4) is arranged in an inner cavity of the front section (3) of the projectile body, and a picture transmission module (5) for image transmission, a data transmission module (6) for data transmission, a control module (7) serving as a control center of a flight control system, a sensor module (8) for collecting monitoring data, an OSD module (9) for integrating the monitoring data and a camera control module (10) for controlling the omnibearing high-speed camera (2) are mounted on the module board (4); a high-rate battery (11) for supplying power is arranged between the module board (4) and the bullet rapid launching device.

10. The miniature unmanned aerial vehicle with gun-launched cluster-folded rotor as claimed in any one of claims 1 to 6, wherein: the control system of the unmanned aerial vehicle comprises a ground part and an airborne part; the airborne part comprises a flight control system, an execution mechanism, an OSD module (9), an airborne communication module and a high-rate battery (11) for supplying power to the flight control system, the execution mechanism and the OSD module (9); the flight control system comprises a camera control module (10), a control module (7) and a sensor module (8), wherein the sensor module (8) comprises a gyroscope magnetoresistive sensor for monitoring the flight attitude of the unmanned aerial vehicle, a GPS locator for monitoring the flight position of the unmanned aerial vehicle, an ultrasonic detector for monitoring the flight altitude of the unmanned aerial vehicle, monitoring data acquired by the sensor module (8) are transmitted to the control module (7) and an OSD module (9) in real time, the control module (7) is used for controlling an execution mechanism, the control module (7) transmits information to a ground communication module through an onboard communication module, the camera control module (10) is used for receiving images shot by the omnibearing high-speed camera (2) in the execution mechanism and transmitting the images to the control module (7), and the control module (7) can control shooting of the omnibearing high-speed camera (2) through the camera control module (10); the execution mechanism comprises an omnibearing high-speed camera (2), an electromagnetic locking mechanism and a motor (18), the control module (7) acquires image information in the flight process through the omnibearing high-speed camera (2), controls the rotor wing of the rotor wing assembly to unfold through the electromagnetic locking mechanism, and controls the autonomous flight of the unmanned aerial vehicle through the starting of the motor (18); the OSD module (9) is used for receiving monitoring data collected by the integrated sensor module (8) and transmitting the monitoring data to the airborne communication module; the airborne communication module comprises an image transmission module (5) for image transmission and a data transmission module (6) for data transmission, and the airborne communication module is respectively connected with the control module (7), the OSD module (9) and the ground communication module through lines; the ground part comprises a ground control platform and a ground communication module, the ground control platform is communicated with the airborne part through the ground communication module, and the ground control platform is a fixed controller or a mobile controller.